4700 results about "Industrial robot" patented technology

A process media transfer unit for an industrial robot including a first part for attachment to a first robot part, and a second part for attachment to a second robot part. The first and second parts being coaxially arranged about a common axis and separated by an airgap to provide an endless rotation relative to each other.

A method and a system for use in connection with off-line programming of an industrial robot. The robot is taught a path having a number of waypoints located on or in the vicinity of at least one object to be processed by the robot. The system includes a tracking system unit adapted to provide information about the position of a part of the body of an operator pointing by the part at points on or in the vicinity of the object, a visual feed-back unit generating a visual feed-back to the operator of the position of the point being presently pointed at by the part of the body, in relation to the object, and a storage unit adapted for storing the position of the part of the body as a waypoint upon receiving a recording command.

An industrial robot system including at least one manipulator, at least one control device adapted to control the operation of the at least one manipulator and at least one wireless, portable interface device adapted for communication with a user and for communication with at least one control device. The industrial robot system is adapted to sense the position of the portable interface device. Also a wireless, portable, interface device and to a control device.

A method and a system for use in connection with programming of an industrial robot, the programming comprises teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot. The system comprises: means for obtaining information about the waypoints of the path in relation to the object, a storage unit (16), for storing the obtained information, a simulation unit (18), simulating the robot path based on the obtained information about the waypoints and a model of the robot, a graphics generator (23), generating a graphical representation of the simulated robot path, and a display member (12) displaying a view comprising the object and said graphical representation of the robot path projected on the object.

The invention discloses an industrial robot workpiece positioning grabbing method based on visual guidance. The method includes the following steps that 1, a system parametric model is established, and calibration of a camera is conducted; 2, a workpiece feature template is determined; 3, workpiece template living examples are sought for, and the positions of workpieces are determined according to coordinate information of the living examples; 4, the speed of a target workpiece is calculated; 5, the pose, in a robot basic coordinate system, of the workpiece is predicted when the workpiece is located at a station to be grabbed; 6, a robot moves according to a planned path to approach and grab the workpiece and place the workpiece at the position of a target point. The invention further discloses a system for implementing the industrial robot workpiece positioning grabbing method based on visual guidance in the patent claim 1. The system comprises a conveying belt, an optoelectronic switch, a camera, an industrial control computer, the robot and the target workpiece. The system has the advantages of being high in positioning accuracy, high in working efficiency, high in automation degree and the like.

The inventive concept of the metrology system (the system) actively determines the 6 Degree of Freedom (6-DOF) pose of a motion device such as, but not limited to, an industrial robot employing an end of arm tool (EOAT). A concept of the system includes using laser pointing devices without any inherent ranging capability in conjunction with the EOAT-mounted targets to actively determine the pose of the EOAT at distinct work positions of at least one motion device.

The invention discloses a transitional tracking planning method applied by an industrial robot, which can realize the transition between a joint space track and a cartesian space track, and the transition between two tracks of the cartesian space, the transitional track between different movement tracks are planned under the cartesian space, and has an intuitive shape; by adopting the algorithm that two parabolas are fused into one transitional curve, the smoothness of the track, speed and acceleration can be ensured, and the curve shape is controllable; the transitional track is formed by six independent curves, and the transition can be realized on the track with only posture change without position change; from the engineering application angle, the path velocity of transitional track boundary is restrained by utilizing the included angle between the tracks and the system allowable chord error, the boundary posture rotation speed is restrained by the similar mode, so that the large impact on a mechanical system caused by overhigh engagement speed can be prevented.

The invention relates to a system and a method for grinding an industrial robot on the basis of visual information. In the system, the image of a workpiece is collected by a video camera; the workpiece is positioned by computer recognition; the movement locus points of a mechanical arm from the current position to a fetching position are planned on line to control the mechanical arm to fetch the workpiece; and then, the revolving speed and the revolving direction of an abrasive belt are controlled by a preset operation step of grinding so as to control the industrial robot to move the workpiece to an appointed position and gesture for grinding and polishing the workpiece. In the system, the video camera collects the image of the workpiece in real time; the workpiece is identified and positioned by the computer to control the mechanical arm to fetch the workpiece; the movement of the industrial robot and the running state of a grinder in the workpiece grinding operation are controlled; the data end of a computer is connected with the data end of the control cabinet of the industrial robot; output locus points controls the industrial robot to move; and the data end of the computer is connected with the data end of the grinder to control the grinder to start and stop and control the revolving speed and the revolving direction of the abrasive belt.

A device for calibration of an industrial robot, which calibration device is adapted for being in contact during the calibration with at least one plane of reference arranged on the robot, the calibration device includes an angle measuring member arranged for measuring an angle relative to the vertical line. The device further comprises two contact elements each having a curved surface, and the contact elements are arranged for being in contact with the plane of reference.

An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.

The invention relates to an industrial robot-based assembly method and device of a piston, a piston pin and a connecting rod. The method of the invention comprises the following steps: a vision camera is used to identify the positions and directions of the piston, piston pin and connecting rod, the grabing positions are calculated by a computer, a mechanical paw grabs the piston, the piston pin and the connecting rod to place on an intelligent assembly table; the connecting rod is inserted in the piston under the control of the intelligent assembly table; an industrial robot places the piston pin in a piston assembly hole; the vision camera in the device identifies and positions the piston, piston pin and connecting rod on a work platform; the data terminal of the industrial robot is connected with the data terminal of the computer; the vision camera is connected with the computer; the industrial robot controls the mechanical paw to grab the piston, piston pin and connecting rod and place on the intelligent assembly table; the serial signal line of the intelligent assembly table is connected with the computer, the control circuit board of the intelligent assembly table controls a connecting rod jig to insert the connecting rod in the piston; and the industrial robot assembles the piston pin in the piston assembly hole according to the sensorless assembly method.

A process for protecting at least two robots is provided, especially multiaxial industrial robots, from collisions, in which movements of a robot are automatically checked for possible collisions. Interlocks are automatically inserted in the movement process.

An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

The invention discloses an industrial robot collision detection method. By the adoption of a collision detection method based on torque difference, in a robot operation process, theoretical torque values of joints are predicted in real time according to a movement track, and differences between the theoretical torque values of the joints and actual sampled torque values of the joints are calculated in real time. When the torque differences exceed a collision threshold, it is regarded that collision happens, a motor stops running immediately, and a robot stops moving. According to the method, a sensor does not need to be additionally arranged, the structure of the robot does not need to be changed, the method is suitable for any operation working condition of the robot, and there is no limit on the working conditions. The whole process is carried out off-line, people only need to use prediction results in online programs of collision detection, the programs are simple, and the execution efficiency is high. According to the method, the predicted torque of the joints is delayed by N cycles and processed, the actual torque is filtered through an average value, and then the torque differences are solved so that the collision threshold can be reduced, and sensitivity of the collision detection is improved.

An automatic truck unloader for unloading/unpacking product, such as boxes or cases, from trailers and containers is disclosed. In one embodiment, a mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement subassembly, and a control subassembly. Under the operation of the control subassembly, an industrial robot having a suction cup-based gripper arm selectively removes boxes from the trailer and places the boxes on a powered transportation path. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the distance measurement subassembly detecting objects, including boxes, within a detection space, and dimensions of the trailer provided to the control subassembly.

A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.

The invention discloses a physical coordinate positioning method based on binocular vision. The physical coordinate positioning method comprises the following steps: S1) setting a left camera and a right camera, establishing a coordinate system of a camera model, and obtaining a conversion relationship between the coordinate system of the camera model and a world coordinate system; S2) extracting a feature point, and obtaining a pixel coordinate of the feature point in a left image and a right image; and S3) calculating a space coordinate of the feature point in the world coordinate system. The left camera and the right camera are used for simulating two eyes, the coordinate system conversion model is established, then, each image shot by the two cameras is subjected to feature point extraction and pixel coordinate calculation, the pixel coordinate is converted into a theoretical coordinate of the camera model, and finally, the space coordinate of a target point is calculated. Measurement accuracy and efficiency is improved, and binocular coordinate positioning can have a better application prospect in the fields including an eye-in-hand system of an industrial robot, industrial cutting, logistics transportation business, packaging business, optical detection and processing and the like.

The invention discloses an industrial robot safety protection intelligent control method and system. The method comprises the following steps that a detection image of a preset area around a robot is taken; to-be-detected target recognition is carried out on the current detection image; if a target to be detected is recognized in the current detection image, the current position and the current distance between the target to be detected and the robot are computed according to preset parameters; the current position and the current distance are stored in a time shaft module according to the time sequence; according to the current distance, the current position and the former distance and former position of the former time in the time shaft module, the moving speed of the target to be detected is computed; according to the current position, current distance and the moving speed of the target to be detected and the moving state data of the robot, the safe judgment relation between the target to be detected and the preset dangerous area as well as between the target to be detected and the preset safe area is determined; the robot is controlled to normally operate or stop operating or change a path according to the safe judgment relation. The safety of staff can be effectively ensured.

The invention provides a simulation method and device of a digital twin system of an industrial robot. The simulation device comprises the industrial robot, a vision perception unit and a computer, wherein the vision perception unit is arranged at the tail end of the robot and is composed of a camera and a wire structure light emitter; an industrial robot simulation system is established, the robot is modeled, and three instructions are analyzed and run; a target three-dimensional measurement model of a robot visual system is acquired by using a wire structure optical geometric triangular method; a motion instruction is determined for the working task of the robot, virtual simulation is carried out through the computer, and reachable points and collision point detection are carried out; and the robot is actually used for identifying a target object through the visual perception unit, and the actual movement of the robot is driven. The simulation device is safe and reliable in virtual simulation, abnormal operation possibly in actual operation is avoided, the visual perception unit is used for identifying the target object through three-dimensional visual technology, the self-adaptive capacity of the robot to the field environment is improved, and flexibility and intelligence are enhanced.

An industrial robot including a plurality of arms movable relative each other about a plurality of joints, and electrical motors moving the arms. The robot is also arranged and designed to resist corrosion in a harsh environment. The robot is also mobile and arranged for movement or travel and suitable for maintenance and inspection tasks in an installation for oil and gas.